Quote:
Originally Posted by jgrindle
Gee Two,
I'm just calling the drive train a butterfly, because that is what it looks like when you look at the top view. Dropbox, has the link working for me (when I'm not signed in), I'm not sure why it isn't working. The design of the robot is a Kiwi, that is not at an equilateral triangle, but an isosceles. all the wheels are 120 degrees from each other, so they would be 150, 30, 90. Picture of the Base. the three wheels will be 6" VexPro Omnis. |
Your new link gives me a 403 error, but the originals finally resulted in some PDFs with some lengths. I have figured out that the shaft angles are, indeed, quite close to 120 degrees from each other. However, when I extend the three axles, they meet only about 5" from the "front" axle mount, and about 20" from the two "wing" axle mounts. If the CoG were that far forward, you would have to divide all of the speeds for that wheel by something which approximates 4. However, I find it highly unlikely that the CoG is that far forward, unless you've specifically ballasted to make it so. Where is the CoG?